Radar based seed sensor for use with agricultural systems, methods, and apparatus

ABSTRACT

A sensor assembly includes a sensor in the form of a microwave radar device to dispense microwaves in an area where seed or other particulate material is to be sensed. This may be a seed tube of a row unit. The microwaves of the radar provide an accurate determination if a seed or other particulate material has passed through the field of vision of the sensor to provide an accurate sensing of a seed event. This information can be used to determine the rate of planting, skips, doubles, as well as any other information related to the passing of a seed or other particulate material.

CROSS-REFERENCE TO RELATED APPLICATIONS

This is a Divisional patent application of U.S. Ser. No. 15/885,189,filed Jan. 31, 2018, which claims priority under 35 U.S.C. § 119 toprovisional application Ser. No. 62/452,703, filed Jan. 31, 2017, all ofwhich are herein incorporated by reference in their entirety and for allpurposes.

FIELD OF THE INVENTION

The invention relates generally to agricultural implements. Morespecifically, but not exclusively, the invention relates to aradar-based sensor for use with various aspects of implements, such asfor use as a seed sensor with an agricultural planting implement. Thesensor can be used with generally any aspect of agriculture.

BACKGROUND OF THE INVENTION

An agricultural row crop planter is a machine built for preciselydistributing seed into the ground. The row crop planter generallyincludes a horizontal toolbar fixed to a hitch assembly for towingbehind a tractor. Row units are mounted to the toolbar. In differentconfigurations, seed may be stored at individual hoppers on each rowunit, or it may be maintained in a central hopper and delivered to therow units on an as needed basis. The row units include ground-workingtools for opening and closing a seed furrow, and a seed metering systemfor distributing seed to the seed furrow.

Seed metering systems and/or devices utilize seed sensors as part of adiagnostic tool to assure a farmer, as the planter is moving across afield, it is delivering seed into the furrow. A seed sensor on each rowof the planter senses when a seed is passed from the planter into theground and, when used with other electronic components and a monitor,will present information to the farmer that the planter is plantingeffectively and not malfunctioning. The monitor performs real-timelogging, mapping/recording, planter/application control, yieldmonitoring, determining seeding rates and population, fertilizerapplication, and harvest mapping, thus insuring seed spacing accuracy inthe field.

Seed sensing can utilize a mechanical lever or similar construct toindicate a seed is moving through the seed tube. Seed sensortechnologies today may utilize a variety of optical methods wherein apassing seed momentarily blocks light transmitted across a seed tubefrom a receiver on the opposite side. Likewise, electromagnetic sensorsare also used for seed sensing. These sensors use electromagnetic wavesin the sonic range. A sensor transmits ultrasonic waves across the seedtube and receives the reflected wave from the seed passing down the seedtube.

Mechanical systems are obviously prone to mechanical failure. Opticalsystems can be affected by stray and reflected light. Sonic andultrasonic waves can be affected by temperature, humidity, and airpressure. Therefore, there is a need in the art for an improved seedsensing device and method which is not affected by temperature, airpressure, humidity, light, or mechanical malfunctions. There is also aneed in the art to identify non-seed particulates within the seed tube.

Additional agricultural implements utilize sensors to acquire dataassociated with various agricultural processes. The sensors can be usedto determine data/information associated with soil in a field, material(granules, particulates, liquids, etc.) stored in a compartment,distance between objects, and/or statuses of or information related toan agricultural process. Therefore, there is also a need in the art forflexible sensors that can be used in a plethora and varied number ofagricultural processes.

BRIEF SUMMARY OF THE INVENTION

Therefore, it is a primary object, feature, and/or advantage of theinvention to improve on and/or overcome the deficiencies in the art.

It is another object, feature, and/or advantage of the invention toprovide a seed sensor, which comprises a seed tube. A microwave radardevice affixed to said seed tube generates and receives electromagneticwaves. Signal processing components electronically process thetransmitted and received wave lengths and generate electronic signalswhich represent the movement of the seed.

It is yet another object, feature, and/or advantage of the inventionwherein the electromagnetic waves are 10 GHz-300 GHz.

It is a further object, feature, and/or advantage of the invention,wherein the electrical signals generated by the returning microwaves arethen manipulated with additional electronic components to filter noiseand outside echoes from the signal.

It is still a further object, feature, and/or advantage of the inventionto manipulate the electrical utilizing additional electronic componentsto highlight or exaggerate the effect of the passing of the seed in theseed tube.

It is still yet a further object, feature, and/or advantage of theinvention to further analyze the electrical signal by digital signalalgorithms running on a microprocessor to determine that a seed or seedsare passing by the sensor.

It is still yet a further object, feature, and/or advantage of theinvention wherein the electrical signal is sent to the planter via anopen collector signal.

It is still yet a further object, feature, and/or advantage of theinvention wherein the electrical signal utilizes the LIN (LocalInterconnect Network) communication protocol.

It is still yet a further object, feature, and/or advantage of theinvention wherein the electrical signal utilizes a serial communicationprotocol.

It is still yet a further object, feature, and/or advantage of theinvention wherein the electrical signal utilizes the CAN bus (ControllerArea Network) communication protocol.

It is still yet a further object, feature, and/or advantage of theinvention wherein the electrical signal utilizes the Ethernetcommunication protocol.

It is still yet a further object, feature, and/or advantage of theinvention wherein multiple radars may be used using the same ordifferent radar processing techniques to assist in accuratelyidentifying seed passage or different physical characteristics about theseed.

It is still yet a further object, feature, and/or advantage of theinvention wherein the seed tube may be fabricated from or coated withconductive material that reflects the microwave signals from passingbeyond the seed tube.

It is still yet a further object, feature, and/or advantage of theinvention wherein the seed tube may be fabricated from or coated withmaterial that absorbs the microwave signals, so they do not pass beyondor reflect from the seed tube walls.

It is still yet a further object, feature, and/or advantage of theinvention wherein a method of detecting a seed utilizes a radarfrequency generated and received within a seed tube.

It is another object, feature, and/or advantage of the invention toprovide a row planter with a row cleaner monitor. A microwave radardevice affixed to said row planter that generates and receiveselectromagnetic waves. Wherein signal processing componentselectronically process the transmitted and received wave lengths andgenerate electronic signals which represent the row cleaner operation.

It is another object, feature, and/or advantage of the invention toprovide a row planter with a row unit up or down position indicator. Amicrowave radar device affixed to said row planter that generates andreceives electromagnetic waves. Wherein signal processing componentselectronically process the transmitted and received wave lengths andgenerate electronic signals which represent the row unit up or downposition.

It is another object, feature, and/or advantage of the invention toprovide a row planter with a product level, i.e., seed, fertilizer, orinsecticide, indicator within bulk fill or row unit hoppers. A microwaveradar device affixed to said row planter generates and receiveselectromagnetic waves. Signal processing components electronicallyprocess the transmitted and received wave lengths and generateelectronic signals which represent product levels.

It is another object, feature, and/or advantage of the invention toprovide a seed meter that detects seeds on a seed disk. A microwaveradar device affixed to said seed meter generates and receiveselectromagnetic waves. Signal processing components electronicallyprocess the transmitted and received wave lengths and generateelectronic signals which indicates a seed is present on a seed disk.

It is another object, feature, and/or advantage of the invention toprovide a row planter with a seed detector for bulk fill tubes. Amicrowave radar device affixed to said row planter generates andreceives electromagnetic waves. Signal processing componentselectronically process the transmitted and received wave lengths andgenerate electronic signals which detects seeds within bulk fill tubes.

It is another object, feature, and/or advantage of the invention toprovide a row planter with an animate or inanimate object detector forwing deployment. A microwave radar device affixed to said row plantergenerates and receives electromagnetic waves. Signal processingcomponents electronically process the transmitted and received wavelengths and generate electronic signals which represents the presence ofanimate or inanimate objects, i.e., living beings or natural structures.

It is another object, feature, and/or advantage of the invention toprovide a row unit which monitors if a trench is closed. A microwaveradar device affixed to said row planter generates and receiveselectromagnetic waves. Signal processing components electronicallyprocess the transmitted and received wave lengths and generateelectronic signals which represents a closed trench.

It is another object, feature, and/or advantage of the invention toprovide a row unit which monitors trench depth. A microwave radar deviceaffixed to said row planter generates and receives electromagneticwaves. Signal processing components electronically process thetransmitted and received wave lengths and generate electronic signalswhich represents trench depth.

These and/or other objects, features, and advantages of the inventionwill be apparent to those skilled in the art. The invention is not to belimited to or by these objects, features and advantages. No singleembodiment need provide each and every object, feature, or advantage.

The disclosed method for seed sensing also uses electromagnetic waves,but the sensor radiates and receives microwaves with a much higherfrequency. Microwave radar is better suited to identify seed in a mediumof air as there is less noise in the signal. Microwave radar signals arenot affected by temperature and pressure; wherein ultrasonic waves are.Radar microwave signal analysis, like ultrasonic, can also distinguishbetween seed and field dust and is not affected by stray sources oflight. Properties of the reflected microwave signal, such as energy,time delay, and frequency shift capture information about the object'scharacteristics and dynamics such as size, shape, orientation, material,distance, and velocity. Analysis of these properties can be used todetermine that not only a seed has passed, but physical characteristicabout the seed. Because there is less noise and more fidelity in themicrowave system, microware radar provides a better seed sensingcapability than ultrasonic based electromagnetic sensors.

The sensor could be used for fertilizer and insecticide detection. Otheruses for radar on a planter include, detecting clogs or excess waste inthe trash collector, the position of a row unit (up or down), the levelof products (seed, fertilizer, insecticide) in bulk fill or row hoppers,the detection of seeds on seed disc (not just in the tube), thedetection of seeds in bulk fill tubes, presence detection for markerdeployment, i.e., don't deploy markers if a person or object is present,to detect unclosed trenches behind the row unit, and measuring seedtrench depth.

BRIEF DESCRIPTION OF THE DRAWINGS

FIG. 1 is a perspective view of an agricultural planting implement.

FIG. 2 is a side elevation view of a row unit for use with a plantingimplement.

FIG. 3A is seed tube with a seed sensor for use with a row unit.

FIG. 3B is seed tube with a seed sensor for use with a row unit.

FIG. 4 is a seed sensor block diagram.

FIG. 5 is a row cleaner obstruction sensor according to aspects of thedisclosure.

FIG. 6 is a row unit with position indication sensor according toaspects of the disclosure.

FIG. 7A is a bulk fill product level sensor according to aspects of thedisclosure.

FIG. 7B is a row hopper product level sensor according to aspects of thedisclosure.

FIG. 8 is a seed disc seed sensor according to aspects of thedisclosure.

FIG. 9 is a fill tube seed sensor according to aspects of thedisclosure.

FIG. 10 is a marker deployment detection sensor according to aspects ofthe disclosure.

FIG. 11 is an unclosed trench sensor according to aspects of thedisclosure.

FIG. 12 is a trench depth sensor according to aspects of the disclosure.

FIG. 13 is a side elevation view of a sensor assembly connected to aseed tube according to aspects of the disclosure.

FIG. 14 is a view showing internal component of sensor assembly and seedtube.

FIG. 15 is a top plan view of the sensor assembly and seed tube.

FIG. 16 is a top plan view showing various components of the sensorassembly and seed tube.

FIG. 17 is a sectional view of the sensor assembly and seed tube.

FIG. 18 is an exploded view of the sensor assembly and seed tube.

FIG. 19 is a top, exploded view of the sensor assembly and seed tube.

FIG. 20 is a side, sectional, and exploded view of the sensor assemblyand seed tube.

FIG. 21 is a side view of a sensor assembly and a belted seed tubeaccording to aspects of the disclosure.

FIG. 22 is a top plan view of the sensor assembly and belted seed tube.

FIG. 23 is a side view showing components of the sensor assembly andbelted seed tube.

FIG. 24 is a sectional view taken along line 24-24 of FIG. 23.

FIG. 25 is a tope view of the components of the sensor assembly andbelted seed tube.

FIG. 26 is a sectional view taken along line 25-25 of FIG. 24.

FIG. 27 is a side elevation view of a sensor assembly connected to apneumatic seed tube according to aspects of the disclosure.

FIG. 28 is a top plan view of the sensor assembly and pneumatic seedtube.

FIG. 29 is front elevation view of the sensor assembly and pneumaticseed tube.

FIG. 30 is a side view showing the components of the sensor assembly andpneumatic seed tube.

FIG. 31 is a top view showing the components of the sensor assembly andpneumatic seed tube.

FIG. 32 is a side sectional view of the sensor assembly and pneumaticseed tube taken along line 32-32 of FIG. 31.

Various embodiments of the invention will be described in detail withreference to the drawings, wherein like reference numerals representlike parts throughout the several views. Reference to variousembodiments does not limit the scope of the invention. Figuresrepresented herein are not limitations to the various embodimentsaccording to the invention and are presented for exemplary illustrationof the invention.

DETAILED DESCRIPTION

FIG. 1 shows an agricultural implement 10, in this case, a row planter.The planter 10 is usually attached to and pulled by a tractor. However,it should be appreciated that other equipment and/or vehicles may movethe implement 10. For purposes of the present disclosure, the implement10 will be referred to as a planter. The planter 10 includes a tongue 12having a first end 14 and an opposite second end. The tongue 12 includesa hitch 16 at the first end 14, with the hitch 16 being connected to thetractor. At the opposite end of the tongue 12 is a central tool bar 18.

As shown in FIG. 1, central hoppers 20 are positioned at the centraltoolbar 18. The hoppers 20 are configured to store seed, fertilizer,insecticide, or other types of material (particulates, granules,liquids, etc.) for use in farming. The hoppers 20 may both contain thesame material or could contain separate materials. The use of thecentral hoppers 20 allows for a large amount of material to be added andstored at a centralized location. Also connected to the central toolbaris a plurality of central wheels, which may be known as transport wheels22, extending generally downwardly from the central toolbar 18. Thewheels 22 contact the ground and support the central hoppers 20. Thewheels stabilize the implement 10 and are the wheels that contact theground when in a working position or a transport position, e.g., if theimplement 10 is a front folding implement such that the wings 24, 26 arefolded forward with wing wheels 30 not contacting the ground.

Extending generally from both sides of the toolbar 18 are first andsecond wings 24, 26. The wings 24, 26 are generally identical and mirrorimages of one another. Therefore, only one wing will be described withthe understanding that the other wing will be generally the sameconfiguration. The first wing 24 includes a bar 28. Mounted to the bar28 are a plurality of ground-engaging row units 32, as well as aplurality of wheels 30. The wheels 30 are configured to contact theground. The row units 32 may be seeders, fertilizers, insecticidesprayers, or other dispensers, discs, plows, or other ground-engagingunits. The wings 24, 26 may also include at least one fold cylinder anda down force cylinder.

FIG. 2 is a side elevation view of a typical row unit 32 for planting aseed in the field, which includes a seed meter 34, a furrow opener 36,and furrow closer 38, two gauge wheels 48 collectively, and a depthcontrol mechanism 50. The gauge wheels 48 and depth control mechanism 50work together to control the depth of the furrow or trench created bythe opener 36. The seed meter 34 includes a seed disk 54, a seedsingulator 60, a seed sensor assembly 68, a seed chute 52, and a seedtube 58. The seed meter can be generally any air or mechanical metercapable of singulating seed and delivering seed from the meter 34 via aseed chute 52 extending therefrom. One example of a seed meter isdisclosed in U.S. application Ser. No. 13/829,726, which is herebyincorporated by reference in its entirety. However, it should beappreciated that generally any type of seed meter could be utilized. Forexample, it is also contemplated that multiple seed meters be includedat the row unit, such as is included in U.S. application Ser. No.14/478,222, which is hereby incorporated by reference in its entirety.

The seed meters are configured to dispense seed at predetermined ratesso as to distribute the seed or other material accordingly. This couldbe to provide a desired spacing between subsequent seeds, to plant adesired population of seed, or to provide another controlled andvariable distribution of the material such that it will be desired to“know” and quantify the amount of material being distributed via themeter.

Therefore, an aspect of the disclosure is directed towards a seedsensing device and method utilizing a Monolithic Microwave IntegratedCircuit (MMIC), often pronounced “mimic”. These devices typicallyperform functions such as microwave mixing, power amplification,low-noise amplification, and high-frequency switching. The use of theMMIC device or devices allows for, according to some aspects of thedisclosure, the quantification of one or more materials. FIG. 3A shows aseed tube 58 with integrated seed sensor 68, wherein the seed sensor 68is a MMIC based radar-on-a-chip device. Generally, seeds 70 travel downa seed tube 58 towards the furrow bottom 66 of the furrow 62. Asparticulate material, such as seeds 70, pass by the seed sensor 68, theyare sensed and analyzed to indicate an actual seed 70 has passed. Inorder to more accurately quantify the materials being detected by thesensor 68, it may be helpful to “blind the radar” beyond the seed tubewalls or limit the radar “eye site” to the tube to prevent seeingobjects moving beyond the seed tube. There are at least two potentialways to blind the radar beyond the seed tube walls. One is to cover theseed tube or build it with a metal surface to reflect the radar waveback to the MMIC. The other is to absorb the radar waves with a radarabsorbing material, RAM. FIG. 3B shows seed tube 58 utilizing a metalwrap 92, which is slotted to allow the radar transmitter and radarreceiver to look through where the seed sensor 68 mates to seed tube 58.The seed tube shielding 92 may be copper, aluminum, or any conductivematerial. Shielding 92 may be wrapped or electroplated. The whole seedtube 58 may be covered or only a narrow band where the seed sensor 68mates to seed tube 58. Seed tube 58 may be made entirely from anyconductive material or combination thereof. Such a shielding providesthe desired “blinding” of the radar.

FIG. 4 is a block diagram of a radar-on-a-chip 68 system, which isintegrated into a seed tube 58 for detecting and analyzing seeds 70.Recent advances in microwave radar technology have allowed radar systemsto be produced on a microchip scale and at a relatively low cost. Inaddition to their small size and low cost, they have very low powerrequirements with increased resolution and algorithmic capabilities.With this advanced technology in such a small and cost-effectivepackage, multiple radar systems can also be placed on a chip, withmultiple antennas and processors, using different radar techniques,multiple radars can work together and focus on specific aspects of theradar target's characteristics in order to better sense it.

A Monolithic Microwave Integrated Circuit (MMIC) 68 integrates amicrowave transceiver 80, a microwave receiver 82 signal processingcircuits 84, a microprocessor 86, one or more transmitting antennas88A-B, and one or more receiving antennas 90A-B, hence radar-on-a-chip.The microwave transceiver 80 generates electromagnetic waves within afrequency range from 10 GHz to 300 Ghz. The electromagnetic wave orradar signal is transmitted via one or more antennas 88 across a seedtube 58. The reflected electromagnetic wave is received via one or moreantennas 90. The signal processing circuits 84 manipulate the electricalsignals generated by the returning or reflected microwaves to filternoise and outside echoes from the signal. The signal processing circuits84 further manipulate the electrical signal to highlight or exaggeratethe effect of the passing of the seed 70 in the seed tube 58. Theresulting electrical signal is analyzed by a computer program baseddigital signal algorithm running on one or more functionalmicroprocessors 86 to determine if a seed 70 or seeds are passing by thesensor 68. Other particulate material such as field dust 72 are alsoidentified and discounted, thus minimizing false seed counts.

The radar transmits and then receives waves as they reflect off the seedas it passes through the seed tube. The motion of the seed is determinedfrom a change in frequency from the Doppler effect, and the resultingfrequency differences are output as a change in voltage. For example, ahigher voltage is output when a seed is approaching, and a lower outputvoltage when moving away. The resulting signal has been processed in twoways: on board by a microprocessor and computer algorithm, or anelectronic circuit that alters the output signal, such as an inverterand an RC circuit in the same manner as the computer algorithm. The dusthas less mass and does not reflect in the same way as a seed. It showsup as noise in the signal and is filtered out by the algorithm.

Once a seed event has been determined by the microwave seed sensor 68,the event is passed to the planter seed monitoring system, not shown. Aseed event may be passed to the planter seed monitoring system via anopen collector signal or other appropriate electronic signaling method.Properties of the reflected microwave signal, such as energy, timedelay, and frequency shift capture information about the object'scharacteristics and dynamics such as size, shape, orientation, material,distance, and velocity. Analysis of these properties can be used todetermine that not only a seed has passed, but physical characteristicabout the seed. The information on individual seeding events could alsobe aggregated into summary and statistical data by the one or morefunctional microprocessor 86 in the seed sensor 68 and presented to theplanting monitor via standard electronic communication protocols such asEthernet, LIN (Local Interconnect Network), Serial, or CAN bus(Controller Area Network), or any similar protocols. Also, wirelesscommunication protocols such as Bluetooth, Wi-Fi, WiMAX, ZigBee, Z-Wavemay be utilized. Further, low-power wide-area network devices arecontemplated. Wired and wireless protocols may be utilized incombination or separate.

Further, microwave sensors can be utilized throughout a typical rowplanter. Residue in the seed trench can affect emergence. Row cleanersmove residue through to ensure smooth row unit operation. Properly setrow cleaners move about one-half to two-thirds of the time, just barelyskimming across the ground. Row cleaners should not be used to move dirtor be set deep enough to cause valleys in the field. During heavy rainswater will run down those valleys, which could potentially wash out theseed in the trench. Normally a farmer will look back while going acrossthe field to make sure the wheels are not turning all the time. A radarsensor monitoring the row cleaners will alleviate the farmer of the needto constantly look back. As shown in FIG. 5, a row cleaner 96 isattached to a row unit 32 and monitored by row cleaner sensor 94, whichmay be mounted to the toolbar. The row cleaner sensor 94 can be aradar-based sensor, and can acquire information related to the cleaner,such as the amount of debris or material in contact with the cleaner 96or in the vicinity of the same.

The up or down force of a row unit 32 may be monitored by radar sensor98, as shown in FIG. 6. The sensor 98 is used to view ahead of theopening wheels and other components of the row unit. It can bepositioned on a follower wheel of a fertilizer opener, a leader wheelahead of a culture wheel or gauge wheel, or even positioned when noleader or other wheel is used with a row unit. The sensor can eliminategauge wheels by determining a distance from the ground of each unit,i.e., the distance between the ground and the toolbar ahead of theopener wheel. The known distance can be included in any system, basedupon speed of travel, to calculate the time between the sensed conditionand the opening mechanism reaching said sensed condition location. Whensuch a sensor is utilized, the map of the data base in the said sensorwill determine its location and will utilize known or historical datarelated to the soil content or compaction of said soil to adjust thedown force pressure of the row unit accordingly. The sensor provides amonitoring system for monitoring the ground in front of or adjacent therow unit to “read” the ground to prepare depth of the units ahead oftime. Thus, the sensor may be capable of determining a change in aground condition in front of or adjacent the row unit. The sensorprovides a viewing area which is positioned to “view” a known distancebetween the viewing area and the opening wheel.

Product levels such as seed, fertilizer, or insecticide can be monitoredusing a radar sensor as is disclosed herein. FIG. 7A illustrates a bulkfill central hopper 20 wherein a radar-based sensor 102 can placed onthe top and/or sides to monitor product levels. Likewise, FIG. 7Billustrates a radar sensor 104 which monitors product 70 levels on therow unit 32 hopper 56. The data collected by said sensors 102 and 104can then be communicated to the operator to quantify an amount ofproduct in any of the containers.

Referring to FIG. 8, a portion of the row unit 32 is illustrated andincludes the seed meter 34, which is comprised of a seed disc 54, a seedsingulator 60, a seed sensor 106, and a seed chute 58. The seed meter 34singulates seed 70 from a seed hopper 56 and drops the seed 70 in acontrolled manner from the seed meter 34. Seed 70 is held to the seeddisc 54 by a conventional vacuum source, positive pressure, mechanicalmeans as is known in the art, or some combination thereof. The seed 70then rotates to a point where the vacuum source is removed, therebycausing the seed 70 to leave the disc and enter the seed chute 58. Theseed sensor 106 verifies that a single seed 70 is adhered to seed disc54. The information from the sensor 106 may also be utilized in thecontrol system to automatically adjust singulation, vacuum, and/or seedrelease point.

Referring to FIG. 9, a central hopper 20 has bulk fill tube 110, whichcan also be known as an air seed delivery system. Such a system isdisclosed in co-owned U.S. Pat. No. 8,448,585, which is herebyincorporated by reference in its entirety. Product 70 exits the hopper20 through fill tube 110 or other conduit. The radar sensor 108indicates the presence of product within the fill tube 110. The flow andvolume of product may be measured. The data collected by said sensor 108can then be communicated to the operator and may also be utilized in thecontrol system to automatically adjust vacuum or another input to adjustthe flow of product from the hopper to the row units of an implement.The present invention is not to be limited to the configuration shown inFIG. 9, and includes generally any possible configuration of productsupply lines or tubes.

A presence detection sensor for marker deployment is also contemplated.FIG. 10 illustrates wing 24 or 26 (in this case in the form of a marker)in a folded, non-use position. A radar sensor 112 may be orientedanywhere along the wing to detect living beings or natural structures114, such as people or a building. If the sensor 112 detects an object114, the control system will prohibit wing 24 or 26 from deploying intoa use position.

A radar sensor can indicate if the trench has been closed. FIG. 11 is aside elevation view of another configuration of a row unit 32 utilizinga radar sensor 118 to monitor if the trench 62 is being closed. Such asensor 116 may be positioned at the axle of the closing wheels, ordirectly behind the wheels, positioned ahead of or oriented behind, orin any other configuration in which the sensor is able to determine ifthe furrow or trench 62 has been closed by the closing wheels. The datacollected by said sensor can then be communicated to the operator.

A radar sensor can measure seed trench depth. FIG. 12 is a sideelevation view of another configuration of a row unit 32 utilizing aradar sensor 118 to aid in maintaining the depth of the opening wheel.Such a sensor 118 may be positioned at the axle of the opening wheels,or directly behind the wheels, positioned ahead of or oriented behind,or in any other configuration in which the sensor is able to determine adepth of furrow or trench 62 created by the opener wheels. The datacollected by said sensor can then be communicated to the row unitpositioning system in order to adjust down force pressure. In addition,when the soil characteristics change and a too deep trench 62 iscreated, the sensor 118 can communicate the row unit positioning systemadjust the amount of down force pressure, thus maintaining proper trench62 depth.

FIGS. 13-22 show an exemplary embodiment showing a seed sensor assembly200 operatively connected to a seed delivery mechanism, in this case aseed tube 58, such as a seed tube utilizing gravity, in part, to directseed to a furrow in the ground. The sensory assembly 200 includessensor/chip 68 positioned in a housing 202, which may also be referredto as a tunnel. The sensor assembly 202 is used to determine that a seedhas been delivered and can also be used to determine the spacing betweensubsequent seeds. The housing 202 may comprise a metallic material, suchas aluminum or other conductive substrate to receive and dissipatewaves. This may also be a lining on the outside of the housing, with thehousing comprising a plastic material. The housing 202 and the seed tube58 are shown to be lined with a liner material 204, 206. The linermaterial 204, 206 comprises a liner that is tuned to absorb waves ofcertain frequencies, such as radar waves. This eliminates or otherwisemitigates extraneous noise in the reading of the system, to make surethat it is the seed that is being sensed by the sensor 68 of theassembly 200.

The liner material 204, 206 can be an adhesive material that is appliedto the seed tube and/or the housing, or it could be overmolded orotherwise plated, such as by injection molding. The liner material, asdisclosed, is a radar absorbing material. For example, the material maycomprise a carbon-based polymer that is tuned to absorb certainfrequencies of radar waves. Such a product can be obtained from MASTTechnologies, 6370 Nancy Ridge Drive, Suite 103, San Diego, Calif.92121, or Laird Technologies, 16401 Swingley Ridge Road, Suite 700,Chesterfield, Mo. 63017. These are but a few examples of companies toacquire the radar absorbing material for use in the liner.

The sensor, as disclosed herein, can be a radar chip that includes atransceiver, receiver, and an antenna on an integrated board. A line canbe connected to the sensor 68 to provide power thereto, and also toprovide for a way to transmit the information of the sensor 68 toanother location. The sensor 58 provides for a broad field of view(FOV). The liner material 204, 206 provides for a way to manage thebroad FOV and to direct it to an area that is to sense the presence of aseed or other particulate material that is passing through the FOV. Itshould be noted that the orientation of the sensor is largelyirrelevant, as the waves will emanate therefrom.

Therefore, as shown in FIGS. 13-22, and in particular in FIG. 18, wherea section of the seed tube 58 is shown, the liner 206 is positioned inthe seed tube 58 at or near the area where the FOV of the sensor 68 willbe directed. The sensor is positioned within a housing 202 that mayinclude tapered sides. The tapered sides of the housing 202 are linedwith the material 204 in such a manner that the waves from the radarsensor 68 are directed towards the seed tube 58, and in particular,towards the area of the seed tube 58 that is lined with the absorbingmaterial 206. However, the tunnel could be any shape, size, etc. to aidin narrowing and/or directing the FOV of the radar. As shown in thefigures, the seed tube 58 is square or rectangular shaped, but this isnot to be limiting on the disclosure.

FIGS. 21-26 show another exemplary embodiment of the sensor assembly 200being connected to a seed delivery mechanism, which in these claims maybe referred to as a belted seed tube 210. The belted seed tube 210includes a housing 212 with a flighted belt 214 passing therethrough.The belt includes a plurality of spaced flights or ledges 216, which areused to receive seed and to transport the seed towards the furrow. Thesensor assembly 210 is used to determine that a seed has been deliveredby the belt and can also be used to determine the spacing betweensubsequent seeds.

The sensor 68 can be placed in the same housing 202 with the tunnel thatcan be any shape, as previously disclosed. The housing can also be linedwith a material 204 to aid in controlling the FOV of the radar emanatingfrom the sensor 68, which will be towards the belt 214.

The seed tube housing the belt will also be lined with a material, suchas the radar absorbing material 206 as disclosed herein. This can bearound the belt but within the housing of the seed tube.

FIGS. 27-32 show yet another embodiment of a seed sensor assembly 200operatively connected to a seed delivery mechanism, which may be apneumatic seed tube 220. The pneumatic seed tube 220 includes a housing222 through which seed is moved. The seed in the housing 222 may beaided in movement by a pneumatic source, such as air by way of positivepressure in a seed meter or by a separate air source (e.g., hose, airpump, fan, compressor, etc.). The sensor assembly 200 is used todetermine that a seed has been delivered and can also be used todetermine the spacing between subsequent seeds.

The seed sensory assembly 202 can be the same as that previouslydisclosed herein, and includes the same components (housing, liner,sensor, power source, and communication line, etc.). The components ofthe assembly are used to direct the waves of the sensor to an area ofthe pneumatic seed tube 220. The pneumatic seed tube can comprisegenerally any material, but may comprise a plastic or other likematerial (silicone, rubber, glass, and/or composite). Furthermore, thetube 220, or at least a portion thereof, may be lined with a radarabsorbing material 206, such as that previously disclosed herein. Thematerial will aid in mitigating noise such that the sensor assembly 202recognizes seeds and other particulate materials passing therethrough,but ignores any extraneous materials. The tube 220 is shown to becircular in nature, but this is not to be limiting on the disclosure andit is to be recognized that generally any shape and size may beutilized. The seed passing through the tube will be recognized by thesensor and communicated to another location (or stored in memorythereat) to determine the accuracy of the seed meter and/or otheragricultural operation.

In operation, the sensor uses the Doppler effect to determine thepresence of seed or other particulate material. This includes signalprocessing to translate the speed sensed of the seed to an identifiedseed event. For example, a seed event may be the presence of a seedpassing through the delivery mechanism. A processing unit, such as acomputer processing unit, server, or the like, can includes algorithmsand/or software.

To determine if a seed event has occurred, a baseline of 1.6 V is thestart. A seed event is detected by a higher voltage than the 1.6 V. Thiscan be by way of a wave being above and below the 1.6 V baseline alongan X-axis, which is the time of the event, with voltage along theY-axis. To determine the length of a seed event, first the voltageshould be zeroed, such as by the equation V−1.6 V=V_(N). Next, theabsolute value of V_(N) is found to determine V_(NX), which looks likeV_(NX)=abs(V_(N)).

Next, the voltage over time is determined to find V_(NXT), which isfound by taking the value of V_(NX) from 0 to t (where t is time), anddividing this by t.

$V_{NXt} = \frac{\Sigma_{0}^{t}V_{NX}}{t}$

Based on this equation, if V is above X, then there has been a seedevent. For example, X=0.2 V, with X determined by the noise level.

To determine the equation, an RC circuit can be used to replace theaveraging function of the algorithm, with a capacitor and a resistor. Adiode can be used to invert the valve to absolute value (diodeinverter). This allows for hardware to replace the algorithm todetermine a seed event. Such a configuration and/or algorithm can beused for either of the gravity seed tube or the pneumatic seed tube.

For high speed radar detection (flighted belt tube), the absorbingmaterial is zeroed. If there is something else besides this detected, itmay be categorized as an anomaly. An algorithm is used to detectchange/difference between the flights of the belt and the seed events.The speed of the flights of the belt can be used to determine if a seedis spaced between. For example, an empty belt can be passed through thesensor to determine a baseline. The presence of seed can be thendetermined. The radar orientation will have no determination to thesystem.

In addition, a double radar (use of two radars) could be used to providebetter resolution, such as with smaller seeds. This would provide seedand distance of an event, which would be used to triangulate the itempassing thereby or therethrough.

The seed meter, planter, implement, row unit, or other device using thesensor, and according to the aspects of the present disclosure may alsoinclude components such as an intelligent control and communicationcomponents. Examples of such intelligent control units may be tablets,telephones, handheld devices, laptops, user displays, or generally anyother computing device capable of allowing input, providing options, andshowing output of electronic functions. Still further examples include amicroprocessor, a microcontroller, or another suitable programmabledevice) and a memory. The controller also can include other componentsand can be implemented partially or entirely on a semiconductor (e.g., afield-programmable gate array (“FPGA”)) chip, such as a chip developedthrough a register transfer level (“RTL”) design process. The memoryincludes, in some embodiments, a program storage area and a data storagearea. The program storage area and the data storage area can includecombinations of different types of memory, such as read-only memory(“ROM”), random access memory (“RAM”) (e.g., dynamic RAM (“DRAM”),synchronous DRAM (“SDRAM”), etc.), electrically erasable programmableread-only memory (“EEPROM”), flash memory, a hard disk, an SD card, orother suitable magnetic, optical, physical, or electronic memorydevices.

A communications module can be included with the sensor, row unit,implement, seed meter, seed delivery device, etc., and can be configuredto connect to and communicate with another controller, such as acomputer, tablet, server, or other computing device. This could allowthe sensor to provide data or other information (e.g., warnings, status,notices, etc.) associated with the respective member to a remotelocation to allow the real-time information and stored information forthe sensor. The information could be used to determine issues, forecast,or otherwise track information related to the sensor. The communicationcould also be in the form of inputs such that the communication couldinclude a command to the sensor or other mechanism from a remotelocation.

In some embodiments, the implement or component thereof connected inpart to the sensor includes a first communications module forcommunicating with a secondary device (other implement, tablet, or otherremote controller), and/or a second communications module forcommunicating with a central location (server, computer, or other mastercontroller). For sake of simplicity, the term “communications module”herein applies to one or more communications modules individually orcollectively operable to communicate with a component disclosed hereinand the central location.

The communications module communicates with the central location throughthe network. In some embodiments, the network is, by way of exampleonly, a wide area network (“WAN”) (e.g., a global positioning system(“GPS”), a TCP/IP based network, a cellular network, such as, forexample, a Global System for Mobile Communications (“GSM”) network, aGeneral Packet Radio Service (“GPRS”) network, a Code Division MultipleAccess (“CDMA”) network, an Evolution-Data Optimized (“EV-DO”) network,an Enhanced Data Rates for GSM Evolution (“EDGE”) network, a 3GSMnetwork, a 4GSM network, a Digital Enhanced Cordless Telecommunications(“DECT”) network, a Digital AMPS (“IS-136/TDMA”) network, or anIntegrated Digital Enhanced Network (“iDEN”) network, etc.), althoughother network types are possible and contemplated herein. In certainembodiments, the network is a GSM or other WAM which is operable toallow communication between the communications module and the centrallocation during moments of low-quality connections, such as but notlimited to when the implement is in a better location.

The network can be a local area network (“LAN”), a neighborhood areanetwork (“NAN”), a home area network (“HAN”), or personal area network(“PAN”) employing any of a variety of communications protocols, such asWi-Fi, Bluetooth, ZigBee, near field communication (“NFC”), etc.,although other types of networks are possible and are contemplatedherein. Communications through the network by the communications moduleor the controller can be protected using one or more encryptiontechniques, such as those techniques provided in the IEEE 802.1 standardfor port-based network security, pre-shared key, ExtensibleAuthentication Protocol (“EAP”), Wired Equivalency Privacy (“WEP”),Temporal Key Integrity Protocol (“TKIP”), Wi-Fi Protected Access(“WPA”), and the like.

The connections between the communications module and the network arewireless to enable freedom of movement and operation of the mobileimplement without being physically tethered to a computer or otherexternal processing device to facilitate such communications. Althoughsuch a modality of communications is preferred for at least this reason,it is contemplated that the connections between the communicationsmodule and the network can instead be a wired connection (e.g., adocking station for the communications module, a communications cablereleasably connecting the communications module and a computer or otherexternal processing device, or other communications interface hardware),or a combination of wireless and wired connections. Similarly, theconnections between the implement or components thereof and the networkor the network communications module are wired connections, wirelessconnections, or a combination of wireless and wired connections in anyof the forms just described. In some embodiments, the implement,components thereof, and/or communications module includes one or morecommunications ports (e.g., Ethernet, serial advanced technologyattachment (“SATA”), universal serial bus (“USB”), integrated driveelectronics (“IDE”), etc.) for transferring, receiving, or storing data.

The communications module can be powered by a dedicated power source,such as a battery, battery pack, or wired power (e.g., AC power socketor other power source). In some aspects of the invention, thecommunications module can be powered by the same power supply as that ofthe implement, such as by battery or by wired power. Still further, itis contemplated that the communications module can be powered wirelesslyor by power over ethernet.

The central location can include a centrally located computer, a networkof computers, or one or more centrally located servers. The centrallocation can be adapted to store, interpret, and communicate data fromone or more sensors, and can also interpret the data and communicate theinterpreted data to a user.

The foregoing description has been presented for purposes ofillustration and description and is not intended to be exhaustive or tolimit the invention to the precise form disclosed. The descriptions wereselected to explain the principles of the invention and their practicalapplication to enable others skilled in the art to utilize the inventionin various embodiments and various modifications as are suited to theparticular use contemplated. Although particular constructions of thepresent invention have been shown and described, other alternativeconstructions will be apparent to those skilled in the art and arewithin the intended scope of the present invention.

1. A row unit of an agricultural planter, comprising: a seed meter; aseed delivery system operatively connected to the seed meter to deliverseed from the seed meter and towards a furrow; and a seed sensorassembly operatively connected to the seed delivery system, the seedsensory assembly including a seed sensor comprising a microwave radardevice at least partially within a housing, and wherein the housingcomprises a radar absorbing material to direct the field of view of theradar device.
 2. The row unit of claim 1, wherein the seed deliverysystem comprises a housing, and wherein at least a portion of thehousing comprises a radar absorbing material.
 3. The row unit of claim1, further comprising an input connected to the seed sensor assembly toprovide power thereto and to aid in communicating information therefrom.4. The row unit of claim 1, wherein the seed delivery system comprises agravity seed tube.
 5. The row unit of claim 1, wherein the seed deliverysystem comprises a belted seed tube.
 6. The row unit of claim 1, furthercomprising signal processing components, and wherein the signalprocessing components: (a) electronically process the electromagneticwaves according to properties associated therewith, said propertiescomprising energy, time delay, and frequency shift; and (b) generateelectronic signals that represent the presence of a seed andcharacteristics associated therewith, said characteristics comprisingsize, shape, orientation, material, distance, and velocity of the seed.7. The row unit of claim 1, further comprising a seed tube.
 8. The rowunit of claim 7, further comprising a microwave radar device associatedwith the seed tube that generates and receives electromagnetic waves. 9.The row unit of claim 8, further comprising signal processingcomponents, and wherein the signal processing components: (a)electronically process the electromagnetic waves according to propertiesassociated therewith, said properties comprising energy, time delay, andfrequency shift; and (b) generate electronic signals that represent thepresence of a seed and characteristics associated therewith, saidcharacteristics comprising size, shape, orientation, material, distance,and velocity of the seed.
 10. A row unit, comprising: a seed tube; amicrowave radar device is associated with the seed tube and generatesand receives electromagnetic waves, said microwave radar devicecomprising a seed sensor assembly operatively connected to the seeddelivery system, the seed sensory assembly including a seed sensorcomprising a microwave radar device at least partially within a housing,and wherein the housing comprises a radar absorbing material to directthe field of view of the radar device; wherein signal processingcomponents electronically process the transmitted and received waves andgenerate electronic signals that represent the presence of a seed. 11.The row unit of claim 10, wherein the electromagnetic waves havewavelengths of 10 GHz-300 GHz.
 12. The row unit of claim 11, wherein theelectrical signals generated by the returning microwaves are thenmanipulated with additional electronic components to filter noise andoutside echoes from the signal.
 13. The row unit of claim 12, whereinthe electrical signal is manipulated with additional electroniccomponents to highlight or exaggerate the effect of the passing of theseed in the seed tube.
 14. The row unit of claim 13, wherein theelectrical signal is further analyzed by digital signal algorithmsrunning on a microprocessor to determine that a seed or seeds arepassing by the sensor.
 15. The row unit of claim 14, wherein theelectrical signal is sent to the planter via an open collector signal.16. The row unit of claim 10, wherein the microwave radar devicecomprises multiple radars using the same or different radar processingtechniques to assist in accurately identifying seed passage or differentphysical characteristics about the seed.
 17. A method of sensing seedand other particulate at a planter row unit, the method comprising:generating electromagnetic waves with a seed sensor positioned in a seedtube of the row unit; receiving electromagnetic waves with the seedsensor; processing the electromagnetic waves according to propertiesassociated therewith, said properties comprising energy, time delay, andfrequency shift; and generating electromagnetic signals that representthe presence of a seed and characteristics associated therewith, saidcharacteristics comprising size, shape, orientation, material, distance,and velocity of the seed.
 18. The method of claim 17, wherein theelectromagnetic waves have wavelengths of 10 GHz-300 GHz.
 19. The methodof claim 17, further comprising manipulating the electromagnetic wavesto filter noise and outside echoes.
 20. The method of claim 19, furthercomprising manipulating the electromagnetic waves to highlight orexaggerate the effect of the passing of the seed in the seed tube.